ResearchBenchmarksLiDAR-Inertial Odometry on M2DGR AverageLiDAR-Inertial Odometry on M2DGR AverageFollow100CR (%)LIO-SMF-4235077May 10, 2026Evaluation resultsMethodMethodLinksCR (%)LIO-SMF2026.05100PALocsigma^2=1sigma^2=12026.0571.112PALocsigma^2=0.1sigma^2=0.12026.0546.618PALocsigma^2=0.001sigma^2=0.0012026.0512.617LIO-EKFsigma^2=1sigma^2=12026.057.57LIO-EKFsigma^2=0.1sigma^2=0.12026.050.53FAST-LIO2sigma^2=0.001sigma^2=0.0012026.050.046FAST-LIO2sigma^2=0.1sigma^2=0.12026.050.046FAST-LIO2sigma^2=1sigma^2=12026.050.046LIO-EKFsigma^2=0.001sigma^2=0.0012026.050